EP2870051B1 - Method for centring the steering wheel of a motor vehicle power assisted steering - Google Patents

Method for centring the steering wheel of a motor vehicle power assisted steering Download PDF

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Publication number
EP2870051B1
EP2870051B1 EP13739770.9A EP13739770A EP2870051B1 EP 2870051 B1 EP2870051 B1 EP 2870051B1 EP 13739770 A EP13739770 A EP 13739770A EP 2870051 B1 EP2870051 B1 EP 2870051B1
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EP
European Patent Office
Prior art keywords
setpoint
steering wheel
vehicle
longitudinal acceleration
during
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EP13739770.9A
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German (de)
French (fr)
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EP2870051A1 (en
Inventor
Guillaume Lengrais
François GASSMANN
André MICHELIS
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JTEKT Europe SAS
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JTEKT Europe SAS
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Priority to PL13739770T priority Critical patent/PL2870051T3/en
Publication of EP2870051A1 publication Critical patent/EP2870051A1/en
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Publication of EP2870051B1 publication Critical patent/EP2870051B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position

Definitions

  • the present invention relates to the general field of devices and methods for assisting the driving of a motor vehicle, intended to facilitate and secure the operation of such a vehicle.
  • It relates more particularly to a method of assisting the operation of a steering wheel to assist the return of said steering wheel to a predetermined central position, for example within a power steering system, including electric power steering.
  • Steering assistance systems which, when the steering wheel is rotated and the vehicle is in motion, restore at said steering wheel, in particular via the steering assistance motor, an effort of a reminder that tends to recall spontaneously said flywheel to its central neutral position, in order to provide the driver with a better feeling of the driving conditions.
  • the objects assigned to the invention therefore aim to remedy the aforementioned drawbacks and to propose a new method steering assistance that provides control, including centering, particularly effective and reliable management, and that provides a faithful rendering of the behavior of the vehicle, regardless of the life situation of the vehicle.
  • the objects assigned to the invention are achieved by means of a method of assisting the maneuvering of a vehicle steering wheel, during which a recall instruction is set up quantifying a return force intended to be applied to said steering wheel. in order to assist the return of said steering wheel to a predetermined central position, said method being characterized in that it comprises at least one longitudinal acceleration determination step (a) during which the instantaneous longitudinal acceleration is evaluated. of the vehicle, then a step (b) for adjusting the return setpoint during which the steering wheel return setpoint is adjusted according to said instantaneous longitudinal acceleration.
  • the method according to the invention makes it possible to effectively compensate, artificially, the reduction of the real centering effect caused by the lightening of the directional front axle.
  • said method ensures the continuity and effectiveness of the centering of the steering wheel, and more generally the centering of the steering as a whole, and in particular directional wheels, while ensuring a good perception of said centering effect, and therefore, more broadly , the behavior of the directional train.
  • Said method according to the invention therefore significantly increases the comfort and safety of driving in all circumstances, and this advantageously particularly simple and inexpensive, without inducing weighting or complication of the vehicle architecture .
  • the present invention relates to a method of assisting the operation of a steering wheel 1 of the vehicle.
  • said method finds its application, as illustrated in FIG. figure 1 , in a power steering system 2, preferably using an electric assist motor 3, for example coupled to the steering column 4 by a gearbox 5 of the type with tangent wheel and worm.
  • the rotation of the column 4 preferably drives a pinion which meshes with a rack (not visible) mounted in translation in a casing, which in turn acts on links 6, left and right, to orient the wheels 7 of the directional train.
  • a rack not visible
  • the nose gear which preferably has a flush angle ⁇ positive.
  • the power steering system 2 will preferably comprise an onboard computer 8, designed to drive the assistance engine 3, and more particularly to apply to said engine a setpoint corresponding to a couple that favors or on the contrary that resists the operation of the steering wheel 1 according to one or more predetermined assistance laws.
  • Exchanges of data to and from said computer 8 may advantageously be provided by a computer network 9, CAN (Controller Area Network).
  • CAN Controller Area Network
  • a recall instruction ("final recall instruction” on the figure 2 ) which quantifies a return force, and more particularly a torque, intended to be applied to the steering wheel 1, if necessary via the assistance motor 3 to which said setpoint will be applied and then the coupled steering column 4 engine, and this to assist the return of said wheel 1 to a predetermined central position.
  • said predetermined central position can be freely defined, it preferably corresponds substantially to the neutral position of the steering wheel, that is to say to a configuration of the steering system in the wheels of the directional undercarriage are oriented in a straight line, in the longitudinal direction before the rear AV of the vehicle.
  • steering wheel used for convenience, is of course not at all restrictive, and may here designate any device allowing the driver of the vehicle to exert a control force on the steering, such as a conventional annular flywheel , possibly truncated on part of its perimeter, a steering bar, a joystick-type handle, a pedal pedals, etc.
  • the method comprises at least one step (a) for determining longitudinal acceleration during which the instantaneous longitudinal acceleration of the vehicle is evaluated, and then a step (b) for adjusting the abseiling setpoint during which one adjusts the return command of the steering wheel according to said instantaneous longitudinal acceleration.
  • such a method makes it possible to take into consideration, substantially in real time, the longitudinal acceleration parameter of the vehicle, that is to say the acceleration component carried by the front-rear direction of said vehicle and in principle substantially tangent to the trajectory followed, to adapt and dose the return force applied to the steering wheel in response to the steering of the latter, that is to say when said steering wheel is rotated in a separate angular position and more or less distant from its predetermined central position.
  • Said method makes it possible more particularly to reinforce the perception by the driver of the centering effect, as well as the effective centering action of the steering wheel 1, and more generally of the steering and undercarriage, as the vehicle accelerates.
  • this intervention of the acceleration value in the definition of the centering force can be applied in both directions of movement, whether the vehicle is moving forward or backward.
  • the recall setpoint is adjusted according to an increasing function of the acceleration longitudinal, so as to increase the intensity of the return force if said longitudinal acceleration increases and / or if said longitudinal acceleration exceeds a predetermined threshold.
  • the adaptation step (b) comprises a sub-step (b1) of variable amplification during which the instantaneous acceleration value is associated, according to a law or a pre-established chart, with a gain amplification which varies according to said acceleration value, then said gain is applied to a base signal forming a pre-setpoint, so as to obtain a corrected setpoint.
  • said pre-set is calculated independently of the longitudinal acceleration, during a step (c) of calculation of pre-setpoint, on the basis of one or more (other) rolling parameters such as vehicle speed, steering wheel speed, steering wheel angle and / or driver torque on the steering wheel.
  • the pre-setpoint and / or the corrected setpoint may be defined, taking into account in particular the angular position of the steering wheel, and in particular be all the higher as the turning of the steering wheel. is marked, that is to say that the instantaneous angular position of said wheel is moved away from its central position.
  • the invention makes it possible to very easily adapt the recall setpoint, according to a proportional type correction, by multiplying the pre-setpoint by an amplification gain which is modified in particular according to the instantaneous acceleration value, according to a predetermined scale of the genus curve, cartography ("map") or abacus, advantageously stored in a non-volatile memory of the computer 8.
  • said gain may be strictly greater than 1, and reach 5 or more.
  • the pre-setpoint and the corrected setpoint, as well as the final setpoint will be signals of the same nature, for example "return currents” whose intensity is representative of the return torque that the motor must exert. assistance 3.
  • step (c) of calculation of the pre-setpoint can correspond to an already existing step within a method of assistance of direction of known type, the implementation of the invention then being able to apply in retrieval by a simple "graft", on the existing architecture, programming modules corresponding to the steps (a) of determining the acceleration and (b) adjustment of setpoint, in order to carry out the amplification conditional of the basic setpoint of the kind "return current", which is invariant regardless of the longitudinal acceleration, and already made available to the network 9 present by the existing steering assistance system.
  • the method and more particularly the adaptation step (b), comprises a first sub-step (b2) of clipping during which the pre-signal is clipped, at a first predetermined saturation threshold. prior to determining the amplification gain, and / or a second clipping substep (b3) during which, at a second predetermined saturation threshold, the adjusted reference signal after amplification is clipped.
  • such an upper boundary of the signals makes it possible to increase the magnitude of the compensation provided to the setpoint, and / or the intensity of the final setpoint, and therefore to set a ceiling effort recall effectively applied.
  • the method furthermore comprises a step (d) of switching enabling to activate or on the contrary to selectively inhibit the step (b) of adjustment of setpoint.
  • the activation switchover of the adaptation step (b), and more particularly the alternative selection between "ordinary" recall by pre-setpoint or “adapted” callback by corrected setpoint, to take account of the longitudinal acceleration, may be possibly being automatic, and in particular controlled by the detection of the crossing of an acceleration threshold, and more particularly of a low acceleration value below which it is considered that the natural centering effect is sufficiently significant and perceptible for do not require amplification, and beyond which it is however better to adjust the instruction by amplifying it.
  • the clamping provided by the second clipping step (b3) can advantageously be common to the various configurations mentioned above, that is to say applied systematically, downstream of the switching, whatever either the origin of the reference signal (basic or corrected), so as to systematically secure the final reminder sent to the assistance engine.
  • Any acquisition method can of course be considered to determine the longitudinal acceleration, for example a direct measurement using a specific sensor of the inertial accelerometer type, or an indirect evaluation, by any appropriate kinematic or dynamic calculation, from one or more rolling parameters.
  • the step (a) of determining the longitudinal acceleration will comprise for this purpose a sub-step (a1) for acquiring the longitudinal speed of the vehicle, then a sub-step (a2) for calculating the derivative of said speed.
  • the acceleration parameter which serves as evaluation and quantization criterion for the adaptation of the recall instruction, and this moreover on the basis of a signal representative of speed that is already available on the CAN network 9, as measured or calculated by one or more other systems on the vehicle.
  • the longitudinal speed, or linear speed, of the vehicle may especially be appreciated for example by a speedometer-type sensor placed at the output of the gearbox, or even more preferably by the speed of the wheels monitored by an ABS anti-lock system, without the need to install an additional dedicated sensor.
  • the signal representative of the speed can be converted or normalized, for example by multiplying by a factor of 10/36 to express in m / s its value initially supplied in km / h.
  • the step (a) for determining the longitudinal acceleration also comprises a sub-step (a3) for filtering, which precedes the sub-step (a2) for calculating the derivative, and during which the filter is filtered.
  • the signal representative of the speed of the vehicle by means of a low-pass filter, Bellanger type filter of the second order, preferably in cutoff frequency (Freq. Clipping) adjustable.
  • such a filtering makes it possible to eliminate the noise corresponding to the high frequencies, located beyond the cutoff frequency, noise which would be likely to distort the estimation of the value of longitudinal acceleration by derivation, and hence of generate an error in the applicable correction, for example by inducing over-compensation.
  • the adjustment of the recall setpoint may take into account two acceleration parameters, and more particularly the longitudinal acceleration component and the transverse component of said acceleration, normal to the previous one, such consideration, particularly complete, contributing to refining the law of executive assistance.
  • the present invention also relates of course to a motor vehicle, and in particular to a land motor vehicle intended for the individual or collective transport of persons or goods, which carries a computer 8, of the electronic module type, arranged or programmed to implement a method as described above.
  • the invention relates to a computer program containing computer program code elements for implementing a method according to the invention when said program is executed on a computer, and a data carrier readable by a computer. , disk type, flash memory, USB key, etc. containing computer program code elements enabling the implementation of such a method when said medium is read by a computer.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Description

La présente invention se rapporte au domaine général des dispositifs et procédés d'assistance à la conduite d'un véhicule automobile, destinés à faciliter et sécuriser la manoeuvre d'un tel véhicule.The present invention relates to the general field of devices and methods for assisting the driving of a motor vehicle, intended to facilitate and secure the operation of such a vehicle.

Elle concerne plus particulièrement un procédé d'assistance à la manoeuvre d'un volant de conduite afin d'assister le rappel dudit volant vers une position centrale prédéterminée, par exemple au sein d'un système de direction assistée, notamment de direction assistée électrique.It relates more particularly to a method of assisting the operation of a steering wheel to assist the return of said steering wheel to a predetermined central position, for example within a power steering system, including electric power steering.

On connaît des systèmes d'assistance de direction qui, lorsque le volant de conduite est tourné et que le véhicule est en mouvement, restituent au niveau dudit volant de conduite, notamment par l'intermédiaire du moteur d'assistance de direction, un effort de rappel qui tend à rappeler spontanément ledit volant vers sa position centrale neutre, et ce afin de procurer au conducteur un meilleur ressenti des conditions de roulage.Steering assistance systems are known which, when the steering wheel is rotated and the vehicle is in motion, restore at said steering wheel, in particular via the steering assistance motor, an effort of a reminder that tends to recall spontaneously said flywheel to its central neutral position, in order to provide the driver with a better feeling of the driving conditions.

En particulier, on connaît par le document EP-1 036 727 un système d'assistance qui correspond au préambule de la revendication 1.In particular, it is known from the document EP-1 036 727 an assistance system which corresponds to the preamble of claim 1.

Cependant, si la restitution d'un tel effort de rappel donne généralement satisfaction, en contribuant à améliorer le confort et la sécurité de la conduite, elle peut toutefois souffrir de certaines limitations.However, if the return of such a recall effort is generally satisfactory, contributing to improve the comfort and safety of driving, it may however suffer from certain limitations.

En effet, les inventeurs ont constaté que les systèmes connus pouvaient parfois être pris en défaut, dans certaines situations dans lesquelles le phénomène de centrage naturel a tendance à être atténué.Indeed, the inventors have found that the known systems can sometimes be faulted, in certain situations in which the natural centering phenomenon tends to be attenuated.

Ceci peut notamment se produire au sein de véhicules à propulsion qui possèdent un moteur monté à l'arrière, et dont le train avant directionnel tend de ce fait à être moins sollicité, ce qui rend la direction moins sujette au phénomène de centrage spontané.This can particularly occur in powered vehicles that have a rear-mounted engine, and the directional forward gear tends to be less stressed, making the direction less subject to spontaneous centering phenomenon.

Si un tel manque d'effort de centrage peut être en partie compensé, en régime établi, par l'effet de chasse du train avant, lorsque celui-ci présente un angle de chasse positif, par des stratégies usuelles de rappel volant, il n'en va pas de même en phase d'accélération, en raison de l'allègement dynamique supplémentaire que subit ledit train avant du fait de l'accélération.If such a lack of centering force can be partly compensated, in steady state, by the hunting effect of the nose gear, when it has a positive hunting angle, by usual strategies of flying return, it n This is not the case in the acceleration phase, because of the additional dynamic lightening experienced by said front axle due to the acceleration.

Les sensations du conducteur, et plus globalement l'assistance à la conduite, peuvent alors être plus ou moins faussées, au préjudice éventuel de la maîtrise du comportement du véhicule.The feelings of the driver, and more generally the assistance to driving, can then be more or less distorted, to the possible prejudice of control of the behavior of the vehicle.

Les objets assignés à l'invention visent par conséquent à remédier aux inconvénients susmentionnés et à proposer un nouveau procédé d'assistance de direction qui assure un contrôle, et notamment un centrage, particulièrement efficace et fiable de la direction, et qui procure un rendu fidèle du comportement du véhicule, quelle que soit situation de vie dudit véhicule.The objects assigned to the invention therefore aim to remedy the aforementioned drawbacks and to propose a new method steering assistance that provides control, including centering, particularly effective and reliable management, and that provides a faithful rendering of the behavior of the vehicle, regardless of the life situation of the vehicle.

Les objets assignés à l'invention sont atteints au moyen d'un procédé d'assistance à la manoeuvre d'un volant de conduite de véhicule, au cours duquel on élabore une consigne de rappel quantifiant un effort de rappel destiné à être appliqué audit volant de conduite afin d'assister le rappel dudit volant vers une position centrale prédéterminée, ledit procédé étant caractérisé en ce qu'il comporte au moins une étape (a) de détermination d'accélération longitudinale au cours de laquelle on évalue l'accélération longitudinale instantanée du véhicule, puis une étape (b) d'adaptation de consigne de rappel au cours de laquelle on ajuste la consigne de rappel du volant en fonction de ladite accélération longitudinale instantanée.The objects assigned to the invention are achieved by means of a method of assisting the maneuvering of a vehicle steering wheel, during which a recall instruction is set up quantifying a return force intended to be applied to said steering wheel. in order to assist the return of said steering wheel to a predetermined central position, said method being characterized in that it comprises at least one longitudinal acceleration determination step (a) during which the instantaneous longitudinal acceleration is evaluated. of the vehicle, then a step (b) for adjusting the return setpoint during which the steering wheel return setpoint is adjusted according to said instantaneous longitudinal acceleration.

Avantageusement, en modifiant dynamiquement l'effort de rappel du volant, et plus particulièrement en intensifiant ledit effort de rappel lorsque le niveau d'accélération augmente, le procédé conforme à l'invention permet de compenser efficacement, de manière artificielle, la réduction de l'effet de centrage réel provoquée par l'allègement du train avant directionnel.Advantageously, by dynamically modifying the return force of the steering wheel, and more particularly by increasing said return force when the acceleration level increases, the method according to the invention makes it possible to effectively compensate, artificially, the reduction of the real centering effect caused by the lightening of the directional front axle.

Ainsi, ledit procédé assure la continuité et l'efficacité du centrage du volant, et plus globalement du centrage de la direction dans son ensemble, et notamment des roues directionnelles, tout en garantissant une bonne perception dudit effet de centrage, et donc, plus largement, du comportement du train directionnel.Thus, said method ensures the continuity and effectiveness of the centering of the steering wheel, and more generally the centering of the steering as a whole, and in particular directional wheels, while ensuring a good perception of said centering effect, and therefore, more broadly , the behavior of the directional train.

Il procure de ce fait un meilleur contrôle du véhicule, à la fois plus fiable et plus intuitif, quelles que soient les conditions dans lesquelles progresse ledit véhicule, et en particulier lors des phases d'accélération soutenue de ce dernier.It thus provides better control of the vehicle, both more reliable and more intuitive, whatever the conditions in which the vehicle progresses, and in particular during sustained acceleration phases of the latter.

Ledit procédé conforme à l'invention permet donc d'accroître significativement le confort et la sécurité de la conduite en toutes circonstances, et ce avantageusement de manière particulièrement simple et peu onéreuse, sans induire d'alourdissement ou de complication de l'architecture du véhicule.Said method according to the invention therefore significantly increases the comfort and safety of driving in all circumstances, and this advantageously particularly simple and inexpensive, without inducing weighting or complication of the vehicle architecture .

D'autres objets, caractéristiques et avantages de l'invention apparaîtront plus en détail à la lecture de la description qui suit, ainsi qu'à l'aide des dessins annexés, fournis à titre purement illustratif et non limitatif, parmi lesquels :

  • La figure 1 illustre, selon une vue schématique de côté, un véhicule à chasse positive équipé d'un système d'assistance de direction permettant de mettre en oeuvre un procédé conforme à l'invention.
  • La figure 2 illustre, selon un schéma-bloc fonctionnel, le déroulement d'un procédé de compensation du centrage de volant de conduite conforme à l'invention.
Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, and with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which:
  • The figure 1 illustrates, in a schematic side view, a positive-hunting vehicle equipped with a steering assistance system for implementing a method according to the invention.
  • The figure 2 illustrates, according to a functional block diagram, the progress of a steering wheel centering compensation method according to the invention.

La présente invention concerne un procédé d'assistance à la manoeuvre d'un volant de conduite 1 de véhicule.The present invention relates to a method of assisting the operation of a steering wheel 1 of the vehicle.

Ledit procédé trouve en particulier son application, tel que cela est illustré sur la figure 1, au sein d'un système de direction assistée 2, utilisant de préférence un moteur d'assistance électrique 3, par exemple couplé à la colonne de direction 4 par un réducteur 5 du type à roue tangente et vis sans fin.In particular, said method finds its application, as illustrated in FIG. figure 1 , in a power steering system 2, preferably using an electric assist motor 3, for example coupled to the steering column 4 by a gearbox 5 of the type with tangent wheel and worm.

De façon classique, la rotation de la colonne 4 entraîne de préférence un pignon qui engrène sur une crémaillère (non visible) montée à translation dans un carter, laquelle agit à son tour sur des biellettes 6, gauche et droite, pour orienter les roues 7 du train directionnel. Dans cet exemple, il s'agit du train avant, qui présente de préférence un angle de chasse θ positif.In a conventional manner, the rotation of the column 4 preferably drives a pinion which meshes with a rack (not visible) mounted in translation in a casing, which in turn acts on links 6, left and right, to orient the wheels 7 of the directional train. In this example, it is the nose gear, which preferably has a flush angle θ positive.

Le système de direction assistée 2 comportera de préférence un calculateur 8 embarqué, conçu pour piloter le moteur d'assistance 3, et plus particulièrement pour appliquer audit moteur une consigne correspondant à un couple qui favorise ou au contraire qui résiste à la manoeuvre du volant 1, selon une ou plusieurs loi d'assistance prédéterminées.The power steering system 2 will preferably comprise an onboard computer 8, designed to drive the assistance engine 3, and more particularly to apply to said engine a setpoint corresponding to a couple that favors or on the contrary that resists the operation of the steering wheel 1 according to one or more predetermined assistance laws.

Les échanges de données vers et depuis ledit calculateur 8 pourront avantageusement être assurés par un réseau informatique de bord 9, du genre CAN (Controller Area Network).Exchanges of data to and from said computer 8 may advantageously be provided by a computer network 9, CAN (Controller Area Network).

Au cours du procédé conforme à l'invention, on est notamment amené à élaborer une consigne de rappel (« consigne rappel final » sur la figure 2) qui quantifie un effort de rappel, et plus particulièrement un couple, destiné à être appliqué au volant 1 de conduite, le cas échéant par l'intermédiaire du moteur d'assistance 3 auquel sera appliqué ladite consigne puis de la colonne de direction 4 couplée audit moteur, et ce afin d'assister le rappel dudit volant 1 vers une position centrale prédéterminée.During the process according to the invention, it is particularly necessary to develop a recall instruction (" final recall instruction" on the figure 2 ) which quantifies a return force, and more particularly a torque, intended to be applied to the steering wheel 1, if necessary via the assistance motor 3 to which said setpoint will be applied and then the coupled steering column 4 engine, and this to assist the return of said wheel 1 to a predetermined central position.

Bien que ladite position centrale prédéterminée puisse être librement définie, celle-ci correspond de préférence sensiblement à la position neutre du volant, c'est-à-dire à une configuration du système de direction dans laquelle les roues du train roulant directionnel sont orientées en ligne droite, dans le sens longitudinal avant AV - arrière AR du véhicule.Although said predetermined central position can be freely defined, it preferably corresponds substantially to the neutral position of the steering wheel, that is to say to a configuration of the steering system in the wheels of the directional undercarriage are oriented in a straight line, in the longitudinal direction before the rear AV of the vehicle.

Par ailleurs, le terme « volant », utilisé par commodité, n'est bien entendu nullement restrictif, et peut ici désigner tout dispositif permettant au conducteur du véhicule d'exercer un effort de commande sur la direction, tel qu'un volant annulaire conventionnel, éventuellement tronqué sur une partie de son périmètre, une barre de direction, un manche de type joystick, un pédalier de palonnier, etc.Moreover, the term " steering wheel ", used for convenience, is of course not at all restrictive, and may here designate any device allowing the driver of the vehicle to exert a control force on the steering, such as a conventional annular flywheel , possibly truncated on part of its perimeter, a steering bar, a joystick-type handle, a pedal pedals, etc.

Selon l'invention, et tel que cela est illustré sur la figure 2, le procédé comporte au moins une étape (a) de détermination d'accélération longitudinale au cours de laquelle on évalue l'accélération longitudinale instantanée du véhicule, puis une étape (b) d'adaptation de consigne de rappel au cours de laquelle on ajuste la consigne de rappel du volant en fonction de ladite accélération longitudinale instantanée.According to the invention, and as illustrated in the figure 2 the method comprises at least one step (a) for determining longitudinal acceleration during which the instantaneous longitudinal acceleration of the vehicle is evaluated, and then a step (b) for adjusting the abseiling setpoint during which one adjusts the return command of the steering wheel according to said instantaneous longitudinal acceleration.

Avantageusement, un tel procédé permet de prendre en considération, sensiblement en temps réel, le paramètre d'accélération longitudinale du véhicule, c'est-à-dire la composante d'accélération portée par la direction avant-arrière dudit véhicule et en principe sensiblement tangente à la trajectoire suivie, pour adapter et doser l'effort de rappel appliqué au volant en réponse au braquage de ce dernier, c'est-à-dire lorsque ledit volant est tourné dans une position angulaire distincte et plus ou moins éloignée de sa position centrale prédéterminée.Advantageously, such a method makes it possible to take into consideration, substantially in real time, the longitudinal acceleration parameter of the vehicle, that is to say the acceleration component carried by the front-rear direction of said vehicle and in principle substantially tangent to the trajectory followed, to adapt and dose the return force applied to the steering wheel in response to the steering of the latter, that is to say when said steering wheel is rotated in a separate angular position and more or less distant from its predetermined central position.

Ledit procédé permet plus particulièrement de renforcer la perception par le conducteur de l'effet de centrage, ainsi que l'action effective de centrage du volant 1, et plus globalement de la direction et du train roulant, lorsque le véhicule accélère.Said method makes it possible more particularly to reinforce the perception by the driver of the centering effect, as well as the effective centering action of the steering wheel 1, and more generally of the steering and undercarriage, as the vehicle accelerates.

Ainsi, on peut notamment compenser et corriger artificiellement et efficacement l'effet d'allègement dynamique auquel peut être sujet le train avant des véhicules, notamment ceux dont le moteur est placé à l'arrière, tels que les véhicules légers à propulsion.Thus, one can compensate and artificially and effectively correct the dynamic lightening effect that can be subject to the front end of vehicles, including those with the engine placed at the rear, such as light-duty vehicles.

Le cas échéant, cette intervention de la valeur d'accélération dans la définition de l'effort de centrage pourra s'appliquer dans les deux sens de déplacement, que le véhicule progresse en marche avant ou en marche arrière.If necessary, this intervention of the acceleration value in the definition of the centering force can be applied in both directions of movement, whether the vehicle is moving forward or backward.

De préférence, au cours de l'étape (b) d'adaptation, on ajuste la consigne de rappel selon une fonction croissante de l'accélération longitudinale, de manière à augmenter l'intensité de l'effort de rappel si ladite accélération longitudinale augmente et/ou si ladite accélération longitudinale dépasse un seuil prédéterminé.Preferably, during the adaptation step (b), the recall setpoint is adjusted according to an increasing function of the acceleration longitudinal, so as to increase the intensity of the return force if said longitudinal acceleration increases and / or if said longitudinal acceleration exceeds a predetermined threshold.

En d'autres termes, on pourra avantageusement bénéficier d'un renforcement progressif de l'effort de centrage, et en particulier d'une compensation active et progressive de l'amoindrissement de l'effort de centrage, ledit amoindrissement résultant de la réduction de l'effet naturel de centrage provoquée par l'allègement dynamique du train roulant directionnel, ladite compensation pouvant s'opérer selon une loi qui pourra être croissante avec l'accélération, soit continûment, et notamment linéairement, soit par morceaux (et notamment par paliers).In other words, it will be advantageous to benefit from a gradual reinforcement of the centering force, and in particular from an active and progressive compensation of the reduction of the centering force, said decrease resulting from the reduction of the centering force. the natural centering effect caused by the dynamic lightening of the directional undercarriage, said compensation being able to operate according to a law that can be increasing with acceleration, either continuously, and in particular linearly, in pieces (and in particular in steps ).

Par ailleurs, on pourra notamment prévoir un seuil de déclenchement de la compensation, le renforcement artificiel complémentaire de l'effort de l'appel intervenant seulement à partir d'un premier niveau d'accélération prédéterminé (valeur basse).Moreover, it will be possible in particular to provide a threshold for triggering the compensation, the complementary artificial reinforcement of the effort of the call intervening only from a first predetermined level of acceleration (low value).

De même, on pourra envisager, notamment par sécurité afin d'éviter une surcompensation, un bornage supérieur du renforcement de l'effort de rappel, lorsque l'accélération longitudinale instantanée atteint ou dépasse un second niveau prédéterminé (valeur haute), supérieur au premier niveau.Likewise, it is possible to envisage, especially for safety in order to avoid overcompensation, an upper boundary of the reinforcement of the return force, when the instantaneous longitudinal acceleration reaches or exceeds a second predetermined level (high value), greater than the first level.

De préférence, l'étape (b) d'adaptation comprend une sous-étape (b1) d'amplification variable au cours de laquelle on associe à la valeur d'accélération instantanée, selon une loi ou un abaque pré-établi, un gain d'amplification qui varie en fonction de ladite valeur d'accélération, puis on applique ledit gain à un signal de base formant une pré-consigne, de sorte à obtenir une consigne corrigée.Preferably, the adaptation step (b) comprises a sub-step (b1) of variable amplification during which the instantaneous acceleration value is associated, according to a law or a pre-established chart, with a gain amplification which varies according to said acceleration value, then said gain is applied to a base signal forming a pre-setpoint, so as to obtain a corrected setpoint.

De préférence, ladite pré-consigne est quant à elle calculée indépendamment de l'accélération longitudinale, au cours d'une étape (c) de calcul de pré-consigne, sur la base d'un ou plusieurs (autres) paramètres de roulage tels que la vitesse du véhicule, la vitesse de rotation du volant, la position angulaire du volant et/ou le couple exercé par le conducteur sur le volant.Preferably, said pre-set is calculated independently of the longitudinal acceleration, during a step (c) of calculation of pre-setpoint, on the basis of one or more (other) rolling parameters such as vehicle speed, steering wheel speed, steering wheel angle and / or driver torque on the steering wheel.

Au demeurant, quel que soit le mode de réalisation retenu, la pré-consigne et/ou la consigne corrigée pourront être définies en tenant compte notamment de la position angulaire du volant, et en particulier être d'autant plus élevées que le braquage du volant est marqué, c'est-à-dire que la position angulaire instantanée dudit volant est éloignée de sa position centrale.Moreover, whatever the embodiment chosen, the pre-setpoint and / or the corrected setpoint may be defined, taking into account in particular the angular position of the steering wheel, and in particular be all the higher as the turning of the steering wheel. is marked, that is to say that the instantaneous angular position of said wheel is moved away from its central position.

Avantageusement, l'invention permet d'adapter très facilement la consigne de rappel, selon une correction de type proportionnelle, en multipliant la pré-consigne par un gain d'amplification qui est modifié notamment selon la valeur d'accélération instantanée, d'après une échelle prédéterminée du genre courbe, cartographie (« map ») ou abaque, avantageusement stockée dans une mémoire non volatile du calculateur 8.Advantageously, the invention makes it possible to very easily adapt the recall setpoint, according to a proportional type correction, by multiplying the pre-setpoint by an amplification gain which is modified in particular according to the instantaneous acceleration value, according to a predetermined scale of the genus curve, cartography ("map") or abacus, advantageously stored in a non-volatile memory of the computer 8.

Dans un exemple de réalisation, ledit gain pourra être strictement supérieur à 1, et atteindre 5 ou davantage.In an exemplary embodiment, said gain may be strictly greater than 1, and reach 5 or more.

De préférence, la pré-consigne et la consigne corrigée, ainsi que la consigne finale, seront des signaux de même nature, par exemple des « courants de rappel » dont l'intensité est représentative du couple de rappel que doit exercer le moteur d'assistance 3.Preferably, the pre-setpoint and the corrected setpoint, as well as the final setpoint, will be signals of the same nature, for example "return currents" whose intensity is representative of the return torque that the motor must exert. assistance 3.

Il est du reste remarquable que l'étape (c) de calcul de pré-consigne peut correspondre à une étape déjà existante au sein d'un procédé d'assistance de direction de type connu, la mise en oeuvre de l'invention pouvant alors s'appliquer en rattrapage par une simple « greffe », sur l'architecture existante, des modules de programmation correspondant aux étapes (a) de détermination de l'accélération et (b) d'adaptation de consigne, afin de réaliser l'amplification conditionnelle de la consigne de base, du genre « courant de rappel », qui est, elle, invariante quelle que soit l'accélération longitudinale, et déjà mise à disposition du réseau de bord 9 présent par le système d'assistance de direction existant.It is moreover remarkable that the step (c) of calculation of the pre-setpoint can correspond to an already existing step within a method of assistance of direction of known type, the implementation of the invention then being able to apply in retrieval by a simple "graft", on the existing architecture, programming modules corresponding to the steps (a) of determining the acceleration and (b) adjustment of setpoint, in order to carry out the amplification conditional of the basic setpoint of the kind "return current", which is invariant regardless of the longitudinal acceleration, and already made available to the network 9 present by the existing steering assistance system.

De manière plus globale, il est donc particulièrement aisé et peu onéreux de mettre en oeuvre l'invention, qui peut revenir en définitive à prévoir une modification du gain proportionnel, selon une fonction croissante de l'accélération, dans une boucle d'asservissement du rappel du volant qui peut être du reste déjà implantée sur le véhicule concerné.In a more global manner, it is therefore particularly easy and inexpensive to implement the invention, which may ultimately be to provide a modification of the proportional gain, according to an increasing function of the acceleration, in a control loop of the reminder of the steering wheel which may be already installed on the vehicle concerned.

De préférence, le procédé, et plus particulièrement l'étape (b) d'adaptation, comprend une première sous-étape (b2) d'écrêtage au cours de laquelle on écrête, à un premier seuil de saturation prédéterminé, le signal de pré-consigne, avant détermination du gain d'amplification, et/ou une seconde sous-étape (b3) d'écrêtage au cours de laquelle on écrête, à un second seuil de saturation prédéterminé, le signal de consigne corrigée après amplification.Preferably, the method, and more particularly the adaptation step (b), comprises a first sub-step (b2) of clipping during which the pre-signal is clipped, at a first predetermined saturation threshold. prior to determining the amplification gain, and / or a second clipping substep (b3) during which, at a second predetermined saturation threshold, the adjusted reference signal after amplification is clipped.

Avantageusement, un tel bornage supérieur des signaux permet de majorer l'ampleur de la compensation apportée à la consigne, et/ou l'intensité de la consigne finale, et par conséquent de fixer un plafond d'effort de rappel effectivement appliqué.Advantageously, such an upper boundary of the signals makes it possible to increase the magnitude of the compensation provided to the setpoint, and / or the intensity of the final setpoint, and therefore to set a ceiling effort recall effectively applied.

On évite ainsi notamment, par un bridage sécuritaire de la fonction d'adaptation, de type « valeur haute », tout risque d'erreur ou d'excès dans la correction et plus globalement tout risque d'incident dans l'assistance à la conduite, et en particulier l'apparition d'une éventuelle sur-compensation qui serait sinon susceptible de gêner la manoeuvre du volant ou d'occasionner des manoeuvres automatiques aléatoires dudit volant.This avoids, especially by a safe clamping of the adaptation function, of the "high value" type, any risk of error or excess in the correction and more generally any risk of incident in the driving assistance. , and in particular the appearance of a possible over-compensation which would otherwise be likely to hinder the maneuvering of the steering wheel or to cause random automatic maneuvers of said steering wheel.

De préférence, le procédé comprend par ailleurs une étape (d) de commutation permettant d'activer ou au contraire d'inhiber sélectivement l'étape (b) d'adaptation de consigne.Preferably, the method furthermore comprises a step (d) of switching enabling to activate or on the contrary to selectively inhibit the step (b) of adjustment of setpoint.

Plus particulièrement, tel que cela est illustré sur la figure 2, on pourra envisager une commutation entre trois configurations de traitement possibles :

  • une première configuration (en haut du commutateur sur la figure 2) correspondant à l'application de la consigne corrigée, c'est-à-dire à l'activation ou à tout le moins à la prise en considération de l'étape (b) d'adaptation de la consigne en fonction de l'accélération longitudinale,
  • une seconde position (en bas du commutateur sur la figure 2) correspondant à l'application directe, sans adaptation, de la pré-consigne, qui est utilisée en l'état pour définir l'effort de rappel, sans influence de l'accélération longitudinale,
  • une troisième position (intermédiaire sur la figure 2) permettant d'inhiber totalement la fonction de rappel, dans certains cas particuliers où l'installateur ou l'utilisateur du système de direction assistée en décide ainsi.
In particular, as illustrated in the figure 2 it may be possible to switch between three possible processing configurations:
  • a first configuration (at the top of the switch on the figure 2 ) corresponding to the application of the corrected setpoint, that is to say to the activation or at least to the consideration of the step (b) of adaptation of the setpoint according to the longitudinal acceleration,
  • a second position (at the bottom of the switch on the figure 2 ) corresponding to the direct application, without adaptation, of the pre-setpoint, which is used in the state to define the return force, without influence of the longitudinal acceleration,
  • a third position (intermediate on the figure 2 ) to completely inhibit the recall function, in particular cases where the installer or the user of the power steering system so decides.

La commutation d'activation de l'étape (b) d'adaptation, et plus particulièrement la sélection alternative entre rappel "ordinaire" par pré-consigne ou rappel "adapté" par consigne corrigée, pour tenir compte de l'accélération longitudinale, pourra éventuellement être automatique, et notamment commandée par la détection du franchissement d'un seuil d'accélération, et plus particulièrement d'une valeur d'accélération basse en deçà de laquelle on considère que l'effet naturel de centrage est suffisamment significatif et perceptible pour ne pas nécessiter d'amplification, et au-delà de laquelle il est en revanche préférable d'adapter la consigne en l'amplifiant.The activation switchover of the adaptation step (b), and more particularly the alternative selection between "ordinary" recall by pre-setpoint or "adapted" callback by corrected setpoint, to take account of the longitudinal acceleration, may be possibly being automatic, and in particular controlled by the detection of the crossing of an acceleration threshold, and more particularly of a low acceleration value below which it is considered that the natural centering effect is sufficiently significant and perceptible for do not require amplification, and beyond which it is however better to adjust the instruction by amplifying it.

Au demeurant, on notera que, par précaution, le bridage procuré par la seconde étape (b3) d'écrêtage peut avantageusement être commun aux différentes configurations susmentionnées, c'est-à-dire appliqué systématiquement, en aval de la commutation, quelle que soit l'origine du signal de consigne (de base ou corrigé), de sorte à pouvoir sécuriser systématiquement la consigne de rappel finale envoyée au moteur d'assistance.Moreover, it will be noted that, as a precaution, the clamping provided by the second clipping step (b3) can advantageously be common to the various configurations mentioned above, that is to say applied systematically, downstream of the switching, whatever either the origin of the reference signal (basic or corrected), so as to systematically secure the final reminder sent to the assistance engine.

Toute méthode d'acquisition peut bien entendu être envisagée pour déterminer l'accélération longitudinale, par exemple une mesure directe à l'aide d'un capteur spécifique de type accéléromètre inertiel, ou bien une évaluation indirecte, par tout calcul cinématique ou dynamique approprié, à partir d'un ou plusieurs paramètres de roulage.Any acquisition method can of course be considered to determine the longitudinal acceleration, for example a direct measurement using a specific sensor of the inertial accelerometer type, or an indirect evaluation, by any appropriate kinematic or dynamic calculation, from one or more rolling parameters.

De préférence, l'étape (a) de détermination de l'accélération longitudinale comportera à cet effet une sous-étape (a1) d'acquisition de la vitesse longitudinale du véhicule, puis une sous-étape (a2) de calcul de dérivée de ladite vitesse.Preferably, the step (a) of determining the longitudinal acceleration will comprise for this purpose a sub-step (a1) for acquiring the longitudinal speed of the vehicle, then a sub-step (a2) for calculating the derivative of said speed.

Avantageusement, on peut ainsi déterminer, au moyen d'une opération très simple à programmer, le paramètre d'accélération qui sert de critère d'appréciation et de quantification pour l'adaptation de la consigne de rappel, et ce de surcroît sur la base d'un signal représentatif de vitesse qui est déjà disponible sur le réseau CAN 9, car mesuré ou calculé par un ou des autres systèmes embarqués sur le véhicule.Advantageously, it is thus possible to determine, by means of an operation that is very simple to program, the acceleration parameter which serves as evaluation and quantization criterion for the adaptation of the recall instruction, and this moreover on the basis of a signal representative of speed that is already available on the CAN network 9, as measured or calculated by one or more other systems on the vehicle.

En particulier, la vitesse longitudinale, ou vitesse linéaire, du véhicule pourra notamment être appréciée par exemple par un capteur de type compteur de vitesse placé en sortie de boîte de vitesses, ou encore, de façon particulièrement préférentielle, par la vitesse des roues surveillée par un système antiblocage ABS, sans qu'il soit nécessaire d'implanter un capteur dédié supplémentaire.In particular, the longitudinal speed, or linear speed, of the vehicle may especially be appreciated for example by a speedometer-type sensor placed at the output of the gearbox, or even more preferably by the speed of the wheels monitored by an ABS anti-lock system, without the need to install an additional dedicated sensor.

Le cas échéant, le signal représentatif de la vitesse pourra être converti ou normalisé, par exemple par multiplication par un facteur 10/36 pour exprimer en m/s sa valeur initialement fournie en km/h.If necessary, the signal representative of the speed can be converted or normalized, for example by multiplying by a factor of 10/36 to express in m / s its value initially supplied in km / h.

De préférence, l'étape (a) de détermination de l'accélération longitudinale comporte par ailleurs une sous-étape (a3) de filtrage, qui précède la sous-étape (a2) de calcul de dérivée, et au cours de laquelle on filtre le signal représentatif de la vitesse du véhicule au moyen d'un filtre passe-bas, du genre filtre Bellanger du second ordre, de préférence à fréquence de coupure (Fréq. Coupure) ajustable.Preferably, the step (a) for determining the longitudinal acceleration also comprises a sub-step (a3) for filtering, which precedes the sub-step (a2) for calculating the derivative, and during which the filter is filtered. the signal representative of the speed of the vehicle by means of a low-pass filter, Bellanger type filter of the second order, preferably in cutoff frequency (Freq. Clipping) adjustable.

Avantageusement, un tel filtrage permet d'éliminer le bruit correspondant aux fréquences élevées, situées au-delà de la fréquence de coupure, bruit qui serait susceptible de fausser l'estimation de la valeur d'accélération longitudinale par dérivation, et, partant, de générer une erreur dans la correction applicable, par exemple en induisant une sur-compensation.Advantageously, such a filtering makes it possible to eliminate the noise corresponding to the high frequencies, located beyond the cutoff frequency, noise which would be likely to distort the estimation of the value of longitudinal acceleration by derivation, and hence of generate an error in the applicable correction, for example by inducing over-compensation.

La possibilité d'ajuster une ou des caractéristiques du filtre, et notamment la fréquence de coupure, le cas échéant de manière dynamique, permet avantageusement d'optimiser la précision de la détermination d'accélération.The possibility of adjusting one or more characteristics of the filter, and in particular the cutoff frequency, where appropriate in a dynamic manner, advantageously makes it possible to optimize the accuracy of the acceleration determination.

Par ailleurs, selon une caractéristique préférentielle qui peut constituer une invention à part entière, on pourra, au cours de l'étape (a) d'adaptation, prendre également en considération la valeur mesurée ou estimée de l'accélération latérale du véhicule pour ajuster la consigne de rappel.Moreover, according to a preferred characteristic which may constitute a complete invention, it will be possible during the adaptation step (a) also to take into consideration the measured or estimated value of the lateral acceleration of the vehicle to adjust the recall instruction.

Ainsi, on pourrait par exemple détecter le franchissement d'un seuil d'accélération latérale, ou encore prendre en considération le quotient de l'accélération longitudinale par l'accélération latérale, et ce, par exemple, afin de limiter ou réduire la consigne de rappel si l'accélération latérale augmente en phase d'accélération longitudinale du véhicule, ce qui indique en principe que le véhicule est effectivement engagé dans un virage.Thus, one could for example detect the crossing of a lateral acceleration threshold, or take into consideration the quotient of the longitudinal acceleration by the lateral acceleration, and this, for example, in order to limit or reduce the setpoint of a reminder whether the lateral acceleration increases during the longitudinal acceleration phase of the vehicle, which indicates in principle that the vehicle is actually engaged in a turn.

On pourra également limiter voire restreindre l'effort de rappel si le véhicule subit une accélération latérale (de type force centrifuge) élevée, notamment au-delà d'un seuil prédéfini, et ce notamment afin d'améliorer le ressenti du conducteur au niveau du volant 1, en rendant ledit ressenti plus "linéaire".It will also be possible to limit or even restrict the return force if the vehicle undergoes a lateral acceleration (of the centrifugal force type) high, in particular beyond a predefined threshold, and this in particular in order to improve the feeling of the driver at the level of the steering wheel 1, making said felt more "linear".

En définitive, l'ajustement de la consigne de rappel pourra prendre en considération deux paramètres d'accélération, et plus particulièrement la composante longitudinale d'accélération et la composante transverse de ladite accélération, normale à la précédente, une telle prise en considération, particulièrement complète, contribuant à affiner la loi d'assistance de direction.Ultimately, the adjustment of the recall setpoint may take into account two acceleration parameters, and more particularly the longitudinal acceleration component and the transverse component of said acceleration, normal to the previous one, such consideration, particularly complete, contributing to refining the law of executive assistance.

Bien entendu, l'invention n'est nullement limitée à une variante de réalisation particulière, l'homme du métier ayant notamment la possibilité d'isoler ou de combiner entre elles les différentes caractéristiques décrites plus haut.Of course, the invention is not limited to a particular embodiment, the skilled person having the particular ability to isolate or combine them different characteristics described above.

Par ailleurs, la présente invention concerne bien entendu également un véhicule automobile, et notamment un véhicule automobile terrestre destiné au transport individuel ou collectif de personnes ou de marchandises, qui embarque un calculateur 8, du genre module électronique, agencé ou programmé pour mettre en oeuvre un procédé tel que décrit plus haut.Furthermore, the present invention also relates of course to a motor vehicle, and in particular to a land motor vehicle intended for the individual or collective transport of persons or goods, which carries a computer 8, of the electronic module type, arranged or programmed to implement a method as described above.

L'invention concerne enfin un programme informatique contenant des éléments de code de programme informatique permettant la mise en oeuvre d'un procédé conforme à l'invention lorsque ledit programme est exécuté sur un calculateur, ainsi qu'un support de données lisible par un calculateur, du genre disque, mémoire flash, clef USB, etc. contenant des éléments de code de programme informatique permettant la mise en oeuvre d'un tel procédé lorsque ledit support est lu par un calculateur.Finally, the invention relates to a computer program containing computer program code elements for implementing a method according to the invention when said program is executed on a computer, and a data carrier readable by a computer. , disk type, flash memory, USB key, etc. containing computer program code elements enabling the implementation of such a method when said medium is read by a computer.

Claims (9)

  1. A method for assisting the operation of a vehicle steering wheel (1), during which is developed a return setpoint quantifying a return force intended to be applied to said steering wheel in order to assist the return of said steering wheel to a predetermined central position, said method including at least a step (a) for determining the longitudinal acceleration during which the instantaneous longitudinal acceleration of the vehicle is evaluated, then a step (b) for adapting a return setpoint during which the return setpoint of the steering wheel is adjusted depending on said instantaneous longitudinal acceleration, said method being characterized in that, during the step (b) for adapting a return setpoint, the return setpoint of the steering wheel is adjusted according to an increasing function of the longitudinal acceleration, so as to increase the intensity of the return force if said longitudinal acceleration increases and/or if said longitudinal acceleration exceeds a predetermined threshold.
  2. The method according to claim 1 characterized in that, the adaptation step (b) comprises a variable amplification sub-step (b1) during which is associated with the instantaneous acceleration value, according to a law or a pre-established chart, an amplification gain which varies depending on said acceleration value, then said gain is applied to a base signal forming a pre-setpoint, wherein said pre-setpoint is preferably calculated independently of the longitudinal acceleration, on the basis of one or more driving parameter(s) such as the speed of the vehicle, the rotational speed of the steering wheel, the angular position of the steering wheel and/or the torque exerted by the driver on the steering wheel, so as to obtain a corrected setpoint.
  3. The method according to claim 2 characterized in that the adaptation step comprises a first clipping sub-step during which the pre-setpoint signal is clipped to a first predetermined saturation threshold, before determining the amplification gain, and/or a second clipping sub-step during which the corrected setpoint signal is clipped to a second predetermined saturation threshold, after amplification.
  4. The method according to any of the preceding claims characterized in that it comprises a commutation step (d) allowing to activate or, instead, to inhibit selectively the setpoint adaptation step (b).
  5. The method according to any of the preceding claims characterized in that the step (a) for determining the longitudinal acceleration includes a sub-step (a1) for aquiring the longitudinal speed of the vehicle, then a sub-step (a2) for calculating derivative of said speed.
  6. The method according to claim 5 characterized in that the step (a) for determining the longitudinal acceleration includes a filtering sub-step (a3), preceding the derivative calculating sub-step (a2), and during which the representative signal of the vehicle speed is filtered by means of a low pass filter, such as a Bellanger filter of the second order, preferably having an adjustable cutoff frequency (Freq. Coupure).
  7. The method according to any of the preceding claims characterized in that, during the adaptation step (a), the measured or estimated value of the vehicle's lateral acceleration is also taken into account to adjust the return setpoint.
  8. A motor vehicle characterized in that it embeds a calculator (8) arranged or programmed to implement a method according to either of claims 1 to 7.
  9. A data medium readable by a calculator and containing computer program code elements enabling the implementation of a method according to either of claims 1 to 7 when said medium is read by a calculator.
EP13739770.9A 2012-07-04 2013-07-03 Method for centring the steering wheel of a motor vehicle power assisted steering Active EP2870051B1 (en)

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FR1256415A FR2992938B1 (en) 2012-07-04 2012-07-04 METHOD FOR CENTERING THE STEERING WHEEL OF AN ASSISTED DIRECTION OF A MOTOR VEHICLE
PCT/FR2013/051572 WO2014006331A1 (en) 2012-07-04 2013-07-03 Method for centring the steering wheel of a motor vehicle power assisted steering

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CN104602986A (en) 2015-05-06
CN104602986B (en) 2017-09-01
FR2992938B1 (en) 2015-12-04
PL2870051T3 (en) 2017-05-31
JP6263527B2 (en) 2018-01-17
US9511795B2 (en) 2016-12-06
WO2014006331A1 (en) 2014-01-09
EP2870051A1 (en) 2015-05-13
BR112015000129A2 (en) 2017-06-27
JP2015525698A (en) 2015-09-07
US20150151782A1 (en) 2015-06-04
FR2992938A1 (en) 2014-01-10

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